Boot-Up Message; Process Data Objects; Service Data Objects; Heartbeat - Balluff BMD 1E NH5-Serie Konfigurationsanleitung

BMD 1E _ _ - _ _ _ _ / _ _ _ -NH5...
Microwave Positioning Sensor
3
Function
3.1

Boot-up message

After turning on the sensor it sends a boot-up message.
The boot-up message consists of the identifier
0x700 + node ID and has a length of 1 byte with contents
00. With a node ID of 0x0B (11) this looks as follows.
Index Data
0x70B 00
Tab. 3-1: Boot-up message
3.2

Process data objects

The process data objects are sent cyclically in a TPDO.
The 8-byte TPDO can be mapped with the following
objects:
– 0x1001:0 Error register
– 0x2901:1 Current internal temperature
– 0x2901:2 Maximum internal temperature since
device start
– 0x2901:3 Minimum internal temperature since
device start
– 0x6004:0 Position value
– 0x6505:0 Warnings
By default the following mapping configuration is set:
0 bytes 1 byte
0x6004 Position Value
Tab. 3-2: Standard mapping configuration
3.3

Service data objects

The service data objects are used to configure the
CANopen-specific and sensor-specific parameters.
Depending on access rights objects can be written, read
or written and read. The entire object index and access
rights can be found in section 5.
8 english
Meaning
Boot-up of the device with node ID 11
2 bytes 3 bytes 4 bytes 5 bytes
0x2901
Current 0x1001 Error
Internal Register
Temperature
3.4

Heartbeat

The heartbeat is used for automatic sending of operating
states, which are monitored in a controller or other bus
slaves. In the 0x1017 Producer Heartbeat Time object the
heartbeat and the associated cycle time can be enabled.
After enabling the sensor sends the current operating state
with at the set cycle rate.
Operating state
Boot-up
Pre-operational
Operational
Stopped
Tab. 3-3: Operating states
6 bytes 7 bytes
0x6505 Warning Messages
Heartbeat value
0x00
0x7F
0x05
0x04